Set a camera to free fall like a Rigid Body?
No python needed. 

Simply add a Copy Location constraint to the camera. Set the Target to an object with an active rigid body. (I simply duplicated one of my colorful cubes and moved it back from the rest of the bunch. Remember to turn the visibility off). That will get the camera to fall down with gravity. 

To get the nice camera shake when it hits the ground we need two more constraints. A Copy Rotation constraint and a Track To constraint.
The Copy Rotation is copying the rotation of the same cube the camera is glued to, that gets the real shake from the impact with the ground. (I have the Influence of that set to 0.5 just to tone it down a bit.) 

The Track To is to keep all my cube in frame. (you can see how much the cubes tumble, and without this constraint the camera would do that too.)

These are my constraints on the camera. Do note the object "Cube.001" is the cube I moved off screen for the camera, and the "Cube" is simply one in the middle of the pack.